Hi texwolf and welcome to the forum,
Yes and No?
You could just plug your ERS 55xx into an access Vlan port on the Cisco switch. It would be much better to setup 802.1Q Vlans and Cisco 'etherchannel' to Avaya/Nortel 'MLT' if required, so you can fully utilise and manage your switches?
I actually use two Cisco cables connected via an RJ45 'balun' to talk to my Avaya/Nortel switches.
CheerZ and good luck